---

refresh-cloud-config: false
compress-bag: false
clean-before-start: false
monitor:
  url: http://36.110.106.142:12341/web_server/monitor/insert
platform:
  url-device-auth: http://1.202.169.139:8081/device/auth
  url-task-poll: http://1.202.169.139:8081/device/task/poll
  url-task: http://1.202.169.139:8081/device/task
full-collect: true
bag-number: 120 # 无人驾驶比赛期间，这里不需要缓存
config-refresh-interval: 60
disk:
  name: /dev/vdb # 磁盘名称
  used: 900000000000 # 磁盘占用阈值，单位bytes
  path:
    - /mnt/media/sda1/cicv-data-closedloop
bag-data-dir: /mnt/media/sda1/cicv-data-closedloop/data/
bag-copy-dir: /mnt/media/sda1/cicv-data-closedloop/copy/
time-to-label-json-path: /mnt/media/sda1/cicv-data-closedloop/timeToLabel.json
triggers-dir: /mnt/media/sda1/cicv-data-closedloop/triggers/
time-window-send-gap: 6
tcp-port: 12340
rpc-port: 12341
ros:
  master-address: 192.168.1.104:11311
  nodes:
    - /ins # 定位

hosts:
  - name: node1
    ip: 192.168.1.104
    rosbag:
      path: "/opt/ros/noetic/bin/rosbag"
      envs:
        - "SHELL=/bin/bash"
        - "ROS_VERSION=1"
        - "SUDO_GID=1000"
        - "PKG_CONFIG_PATH=/opt/ros/noetic/lib/pkgconfig"
        - "ROS_PYTHON_VERSION=3"
        - "SUDO_COMMAND=/usr/bin/su"
        - "SUDO_USER=pji"
        - "ROS_PACKAGE_PATH=/opt/ros/noetic/share"
        - "ROSLISP_PACKAGE_DIRECTORIES="
        - "PWD=/mnt/media/sda1/cicv-data-closedloop/data"
        - "LOGNAME=root"
        - "ROS_IP=192.168.1.104"
        - "HOME=/root"
        - "LANG=en_US.UTF-8"
        - "ROS_ETC_DIR=/opt/ros/noetic/etc/ros"
        - "CMAKE_PREFIX_PATH=/opt/ros/noetic"
        - "LESSCLOSE=/usr/bin/lesspipe %s %s"
        - "PYTHONPATH=/opt/ros/noetic/lib/python3/dist-packages"
        - "USER=root"
        - "LD_LIBARAY_PATH=/usr/local/lib:"
        - "ROS_MASTER_URI=http://192.168.1.104:11311"
        - "ROS_HOSTNAME=192.168.1.104"
        - "LD_LIBRARY_PATH=/usr/local/cuda-11.4/lib64:/opt/ros/noetic/lib:/home/pji/Fast-DDS/install/lib"
        - "PATH=/usr/local/cuda-11.4/bin:/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin"
        - "ROS_ROOT=/opt/ros/noetic/share/ros"
        - "ROS_DISTRO=noetic"
        - "_=/usr/bin/env"
    topics:
      - /fault_info
      - /cam_3D # 感知
      - /car_wheel
      - /ch64w/rear
      - /ch64w_l/lslidar_point_cloud
      - /ch64w_q/lslidar_point_cloud
      - /ch64w_r/lslidar_point_cloud
      - /cicv/lidarfusionmovingobject
      - /cicv_location
      - /f_radar_objects
      - /fusion/vis/box
      - /fusion/vis/camera
      - /fusion/vis/camera_text
      - /fusion/vis/velocity
      - /lidar_objects_cluster
      - /lidar_objects_deeplearning
      - /lidar_objects_fusion
      - /lslidar_point_cloud
      - /map_polygon
      - /roi/polygon/rosout
      - /cicv_amr_trajectory # 规划控制
      - /trajectory_display
      - /reference_trajectory
      - /tpperception
      - /tprouteplan
      - /jinglong_control_pub
      - /vehicle_info
      - /tftrafficlight
      - /DestinationLocationInfo
      - /end_point_message
      - /amr_pose
      - /map_display
      - /obstacle_display
      - /reference_display
      - /lidar_roi
  - name: node2
    ip: 192.168.1.105
    rosbag:
      path: "/opt/ros/melodic/bin/rosbag"
      envs:
        - "LD_LIBRARY_PATH=/opt/ros/melodic/lib:/usr/lib::/usr/lib:/userdata/third_lib"
        - "ROS_ETC_DIR=/opt/ros/melodic/etc/ros"
        - "USER=root"
        - "ROS_OS_OVERRIDE=openembedded"
        - "PWD=/mnt/media/sda1/cicv-data-closedloop"
        - "HOME=/home/root"
        - "CMAKE_PREFIX_PATH=/opt/ros/melodic:/usr"
        - "ROS_ROOT=/opt/ros/melodic/share/ros"
        - "ROS_MASTER_URI=http://192.168.1.102:11311"
        - "ROS_VERSION=1"
        - "ROS_PYTHON_VERSION=2"
        - "ROS_IP=192.168.1.103"
        - "PYTHONPATH=/opt/ros/melodic/lib/python2.7/site-packages:/usr/lib/python2.7/site-packages"
        - "ROS_PACKAGE_PATH=/opt/ros/melodic/share"
        - "PATH=/opt/ros/melodic/bin:/usr/bin/cyber/tools/cyber_service:/usr/bin/cyber/tools/cyber_node:/usr/bin/cyber/tools/cyber_channel:/usr/bin/cyber/tools/cyber_launch:/usr/bin/cyber/tools/cyber_monitor:/usr/bin/cyber/tools/cyber_recorder:/apollo/bazel-bin/cyber:/usr/local/bin:/usr/bin:/bin:/usr/local/sbin:/usr/sbin:/sbin "
        - "PKG_CONFIG_PATH=/usr/lib/pkgconfig"
        - "ROS_DISTRO=melodic"
    topics:
      - ""
      - ""
triggers:
  - label: ""
    topics:
      - ""
      - ""